WO2015139716A1

WO2015139716A1 - Gripper finger, gripper tip, gripper jaw, and a robot system

Info

Publication number: WO2015139716A1
Application number: PCT/EP2014/055273
Authority: WO
Inventors: Charles De Castelbajac; Hansruedi Frueh; Norman Wijeyratne
Original assignee: F&P Robotics Ag
Priority date: 2014-03-17
Filing date: 2014-03-17
Publication date: 2015-09-24
Also published as: US9975253B2; JP2017507798A; CN106232305A; US20170066142A1; CN106232305B; EP3119564A1; KR20160133466A

Abstract

The invention relates to a gripper finger (1) of a gripping instrument for a robot system. The gripper finger (1) for gripping objects comprises a gripper jaw (3) and a gripper tip (4), a gripper axis (A) of which extends along a longitudinal direction (L). The gripper tip (4) can be removably connected to the gripper jaw (3) by means of a connection element (5). According to the invention, the connection element (5) can be locked with a connection socket (6), which extends in the longitudinal direction (L), in the form of a plug connection such that a tilting of the gripper tip (4) with respect to the gripper axis (A) is prevented in the locked state and simultaneously the gripper tip (4) is locked relative to the gripper jaw (3) with respect to the longitudinal direction (L) under the effect of a specifiable longitudinal locking force (F). The invention further relates to a gripper tip (4) and a gripper jaw (3) for a gripper finger (1) and to a robot system equipped with a gripper finger.

Description

Gripper fingers, hook tip and gripper jaw, and a Robotersvstem

The invention relates to a gripper finger, a gripper tip and a

Gripper jaw, as well as a robot system equipped therewith according to the preamble of independent claims 1, 14, and 15.

Gripping instruments for robotic systems have long been known in a wide variety of variants in the prior art. The known gripping instruments usually comprise two gripper fingers, each with a gripper jaw, which in turn each carry a gripper tip. The gripper jaws may e.g. be movably mounted on linear guides and formed against each other and movable away from each other. This also allows them to do so

attached two gripper tips are moved exactly against each other or apart, so that objects can be picked up, moved to another location and dropped off again. The expert also knows such gripper systems under the term "parallel gripper." Such systems for gripping workpieces are known, for example, from EP 0 2231 B1, EP 0 993 916 B1 or EP 2 548 706 A1.

Far more flexible in the application are so-called "articulated robots", as they are described, for example, in WO 02/086637 A1 and which are very often used advantageously, especially for mobile robot systems.

The gripper fingers are nowadays very often not just mechanical gripping tools but are highly complex systems that can often contain electronic components and sensors of various kinds, such as optical cameras, ultrasonic sensors or other acoustic sensors, such as microphones or

Thermal sensors, force sensors, etc. With the help of such sensors can corresponding robot system via the gripper fingers "feel" his environment or essential for the function of the robot system

Detect properties of its environment.

For example, such a robot system can automatically detect whether an object to be gripped is a rather soft object, such as a plastic bottle or a rather hard object, such as a glass bottle, and thus a force with which the gripper fingers to take the object, independently and flexibly adjust to an optimal value. Depending on the existing sensors, the robot system may also be the type of

Per se, or e.g. distinguish whether the object to be grasped is a dead or living object. Also, a variety of other properties can recognize and evaluate such robotic systems today. In particular, even intelligent

Robot systems known from the detected by means of the sensors

Can learn environment data independently and so z. also to the requirements of initially unknown environments or first

Unknown to grasp objects to adjust.

This is of particular importance when such a robot system is used, for example, to perform filigree mounts with very different components, or when, for example, a human being is to be assisted in various different everyday activities. In particular, when such a robot system directly with the

People interact, a highly sensitive sensor is already off

Of course, safety is of the utmost importance.

Here, the gripper tip of a gripper finger is of particular importance, since on the one hand the gripper tip for gripping an object to be moved must be brought into touching contact and on the other hand, the gripper tip often for detecting the environment and to recognize the Contains properties of the objects to be gripped. Therefore, in many applications, the gripper tip must be individually tuned to the specific tasks to be performed or to the properties of the working environment and thus ultimately to the special properties of the objects to be gripped and moved.

So that one and the same robot system can be used for a variety of different tasks, it is known, the gripper tips

interchangeable design. Thus, a set of different hook tips may be provided, e.g. in their gripping geometry, the material, the surface finish, the sensors, etc., which can be optimally adapted to specific tasks to be performed. This means that one and the same robot system can handle a wide variety of tasks by simply exchanging the gripper tips of the gripper finger. Especially in applications in which the robot systems have to handle highly complex or very different tasks and thus a frequent replacement of the hook tips is necessary, it is natural

desirable that the replacement of the hook tip as simple as possible and preferably can be accomplished by machine. That's one of the

Significant problems with known systems, since the gripper tips often removed in complicated procedures of the gripper jaw, for example, must be unscrewed. Additional between gripper jaw and hook tip possibly also existing electrical

Connection cables for the sensor system, or hydraulic or pneumatic connections for any existing drive units for driving moving parts of the gripper jaw or the gripper tip have so far been laboriously separated and re-installed during the conversion of the gripper tip.

The object of the invention is therefore a gripper finger gripper jaw and gripper tip, a gripper jaw and a gripper tip for a gripper finger, and to provide a corresponding robot system in which the known from the prior art disadvantages are reliably eliminated, so that the hook tip is particularly simple, efficient and preferably mechanically, possibly by the corresponding robot system itself interchangeable.

The objects of the invention solving these objects are characterized by the features of independent claims 1, 14, and 15.

The respective dependent claims relate to particular

advantageous embodiments of the invention.

The invention thus relates to a gripper finger of a gripping instrument for a robot system. The gripper finger for gripping objects comprises a gripper jaw and a gripper tip which extends with a gripper axis along a longitudinal direction, wherein the gripper tip is releasably connectable by means of a connecting element with the gripper jaw.

According to the invention, the connecting element can be locked in such a way with a connecting bush extending in the longitudinal direction in the form of a plug connection, that in the locking state, a tilting of the hook tip with respect to the gripper axis is prevented and at the same time the gripper tip against the gripper jaw with respect to the longitudinal

Direction is locked under a predetermined longitudinal locking force.

Essential for the invention is that the connection between the hook tip and gripper jaw is realized by means of a longitudinal connector, the two plug-in elements, namely the connection socket and the

Includes connecting element, so that the connection between the gripper jaw and hook tip can be prepared or released simply by the fact that the gripper tip and the gripper jaw in the longitudinal direction, ie in a longitudinal direction in which the gripper jaw or the gripper tip substantially extends, only each other to or from each other have to be moved away without further movement in another spatial direction is necessary.

That is, the first significant advantage of the inventive

Gripper finger is that the gripper tip of the gripper jaw can be separated by a simple linear movement of the gripper jaw. This is especially of significant advantage when the hook tip is to be changed by machine, because the changing apparatus then only has to perform a simple linear movement in space to separate the hook tip of the gripper jaw or to the two

To assemble components.

At the same time there is a further significant advantage of the inventive gripper finger is that the connecting element so with the

Connecting bush in the form of a plug connection can be locked, that in the locked state of the gripper fingers with the gripper jaw under a predetermined longitudinal locking force, simply through the connection between the connecting element and the connection socket so to speak

automatically locked with a predetermined, sufficient for the application locking force in the longitudinal direction.

Characterized in that in the locked state, the connector of the invention on the one hand prevents tilting of the hook tip with respect to the gripper axis and at the same time the gripper tip against the gripper jaw with respect to the longitudinal direction below a desired adjustable

Locking force can be locked, the inventive hook tip with a single linear movement in the longitudinal direction through

Applying the locking force can be reliably made and released again without causing any complicated movement or movement

Manipulation in the room is necessary and without another tool must be provided, as neither a screw, another connector or any other connection of any kind would always have to be produced in a complicated way or would have to be laboriously separated.

It goes without saying that of course not only a single connector according to the present invention can be provided in one and the same gripper finger, but preferably also several connectors simultaneously, on the one hand the stability of the connector against tensile loads in the longitudinal direction and / or against can increase tilting with respect to the longitudinal direction. But on the other hand can also fulfill other functions, such as the inclusion of a detail described below

Link.

This advantage of the inventive connector unfolds

especially its full effectiveness when necessary electrical, pneumatic, hydraulic or other connection lines between gripper jaw and hook tip are integrated into the connector according to the invention, because then this and in the same simple manner when separating or connecting the hook tip and gripper jaw by the described simple linear movement Also automatically connected or disconnected without additional effort. In a specific embodiment, the connection bushing is provided in the gripper jaw, and the connection element is non-releasably connected to the gripper tip in the form of a connecting pin such that the connecting pin engages under the longitudinal locking force

Verbindungsbuche is lockable. It goes without saying that in a further embodiment, the connection socket can also be provided in the gripper tip, in which case the connecting element in the form of a connecting pin is not detachably connected to the gripper jaw such that the connecting pin under the longitudinal

Locking force can be locked with the Verbindungsbuche. Particularly preferably, the connecting element comprises a first

Vernegelungselennent and the connection socket on to the first

Locking element geometrically complementary second

Locking element, wherein for generating the longitudinal

Latching force the first locking element and / or the second locking element with an elastically acting force element

Is provided.

The elastic force element may be e.g. be a spring that the

Connected between the first locking element and the second locking element or between the connecting element and the connecting sleeve with a corresponding force, so that the hook tip and the gripper jaw are locked together under the predetermined locking force.

However, the elastic force element may also be e.g. an elastic

Plastic sleeve or elastic plastic element, e.g. a plastic ring, which is arranged at a suitable location between the connecting element and the connection socket.

The first locking element per se can e.g. in a manner known per se in the form of e.g. rotationally symmetric or not

rotationally symmetrical paragraph on the locking element, for example, be provided in the region of the tip of the locking element, while the second locking element is then formed in the form of a geometrically complementary designed bushing, in which the first locking element can be locked under the predetermined locking force. In other words, in a more general geometric embodiment, the connecting element and the connecting bushing may be geometrically complementary to one another in such a way that the connecting element and the connecting bushing can be positively connected to one another such that in the locking state the longitudinal locking force through the Positive locking between the connecting element and the connection socket is ensured.

Of course, the locking force can also be taught in any other suitable manner. For example, in that the connecting element and the connecting bushing are formed geometrically complementary to one another in such a way that the connecting element and the connecting bushing are positively or non-positively connected, e.g. non-positively connected to each other, and in the locking state, the longitudinal locking force by a between the

Connecting element and the connecting bushing acting mechanical force, which may be based for example on the external air pressure,

electromagnetic, in particular electrical or magnetic force is caused. Of course, in a special

Embodiment of course also another mechanical force, such as one of the above-described various elastic force effects impart the locking force.

As already mentioned above and known per se from the prior art, one or more identical or different sensors for detecting an ambient signal can be provided in the gripper jaw and / or in the gripper tip, wherein the sensor is an infrared sensor, and / or an ultrasonic sensor, and / or a capacitive sensor, and / or a

Electromagnetic sensor, in particular an electrical or magnetic sensor and / or a piezoelectric sensor, and / or a camera for receiving an optical signal, and / or a microphone for receiving an acoustic signal and / or another sensor, with which the for the function of the robot system necessary properties of

Environment detected and fed for further use as input variables for the control or regulation of the robot system in a corresponding data processing system. In this case, evaluation electronics for evaluating the ambient signal may already be provided in the gripper jaw and / or in the gripper tip, which performs at least a first evaluation of the signals detected by the sensors and generates information-carrying signals which are then used to control or regulate or eg Infeed and use for a learning algorithm to a designated

Data processing system can be forwarded, the

Forwarding particularly preferred over corresponding, in the

Connecting socket and / or integrally provided in the connecting element transmission connections takes place.

It goes without saying that an inventive

Gripper fingers can also be made more complex and constructed, e.g. in that the gripper jaw and / or the gripper tip comprises an additional movable gripper element, so that e.g. complex

Gripping movements are possible, in which case advantageously in the gripper jaw and / or in the gripper tip, a drive unit for driving the

Gripper jaw and / or the hook tip and / or may be provided for driving the movable gripper element.

The drive unit can be embodied in any suitable manner and, for example, be a mechanical, an electromagnetic, in particular an electrical, magnetic, piezoelectric drive unit or a hydraulic or a pneumatic drive unit.

As already mentioned above, for signal transmission or for the transmission of mechanical, electrical, pneumatic or hydraulic energy between the gripper jaw and the hook tip, a transmission connection in the form of a mechanical, electromagnetic connection, in particular radio connection or electrical line or in the form of a hydraulic or pneumatic Be provided for the line very particularly preferably is directly integrated into the connecting element and / or in the connection socket.

The invention further relates to a gripper tip and a gripper jaw for a gripper finger of the present invention and a robot system, in particular an industrial robot, or service robot or robot for quality control or a robot system for performing a filigree assembly, or to support a human Alttagaktivität with a gripper finger according to the invention, Gripper tip or gripper jaw as described in detail in this application. The invention will be explained in more detail below with reference to the schematic drawing. Show it:

1 is a perspective view of an embodiment of an inventive gripper finger in the unlocked state.

Figure 2 shows the gripper finger of Figure 1 from another perspective in the assembled locked state.

Fig. 3 shows the gripper fingers of Fig. 1 from the perspective of Fig. 2 in the assembled locked state and transparent representation.

FIGS. 1, 2, and 3 schematically show, in a perspective view, essential features of an embodiment of a gripper finger according to the invention, which is referred to below as the entire reference number 1.

Fig. 1 shows the gripper fingers 1 in the unlocked and not

assembled state, while Fig. 2 shows the gripper fingers 1 of Fig. 1 in a slightly different perspective in the locked assembled state. Finally, FIG. 3 shows the gripper finger 1 of FIG. 1 essentially from the perspective of FIG. 2, ie also in FIG compound and locked state, but in more transparent

Representation, so that the inner components of the gripper finger 1 can be seen. In all three figures is due to the reasons

Clarity has been dispensed with the explicit representation of the rest of the robot system, since the inventive gripper finger 1 is basically suitable for any type of robot system and the representation of a special robot system thus can not contribute additional information for understanding the illustrated invention.

The inventive gripper finger 1 of a gripping instrument for a

Robot system comprises for gripping objects in a conventional manner, a gripper jaw 3 and a gripper tip 4, which with a

Gripper axis A along a longitudinal direction L extends. The

Claw tip 4 is detachably connectable here by means of a connecting element 5, in the special embodiment here with two identical connecting elements 5 with the gripper jaw 3. According to the present invention, the connecting element 5 can be locked in the form of a plug connection with a connecting bush 6, which is not directly visible in FIGS. 1 and 2, in such a way that, in the locking state, tilting of the hook tip 4 with respect to the Gripper axis A is prevented and at the same time the gripper tip 4 against the gripper jaw 3 with respect to the longitudinal direction L under a predetermined longitudinal

Locking force F is locked.

Here, in the present example of FIG. 1 and FIG. 2

Connection bush 6 is provided within the gripper jaw 3, as is better seen in FIG. 3, which, as already mentioned, the gripper finger 1 from a similar perspective as in Fig. 2 in a transparent schematic representation shows, so that the components inside the Gripper finger 1 are better visible. The two connecting elements 5 are each in the form of a

Link pin so non-detachably connected to the hook tip 4, that the connecting pin under the longitudinal locking force F with the connecting box 6 is lockable. It should be noted that in another embodiment, not shown here

Connecting bushing 6 could also be provided in the hook tip 4, and the connecting element 5 in the form of a connecting pin in the

Gripper jaw 3 can be arranged. Further, it is of course also possible that two or more connecting elements 5 may be provided, of which a part of the hook tip 4 and a part of the gripper jaw 3 are arranged, wherein the associated connection sockets 6 then corresponding to the hook tip 4 and the gripper jaw third would be distributed.

The connecting element 5 in each case has a first locking element 51 in the form of a pawl-shaped tip and the connecting bushing 6 accordingly comprises a second locking element geometrically complementary to the first locking element, which is configured such that the first locking element 51 engages with it to generate the longitudinal locking force F. the second locking element can be locked. In the specific embodiment according to FIG. 1 or FIG. 2 and FIG. 3, an elastically acting force element 52 in the form of an O-ring made of plastic is provided as an additional locking element, so that the desired locking force is better or optimally adjustable.

3, the sensor 7 accommodated in the gripper tip 4 can be seen very well for detecting an ambient signal, the sensor 7 here being, for example, an optical sensor in the form of a miniature camera with which the environment can be correspondingly perceived. In addition, an evaluation 8 is housed in the gripper jaw 3, which can be seen as shown in Fig. 2, provided with an externally replaceable electronic computer chip, which the

Evaluation electronics in their function makes more flexible, because depending on the requirement from the outside, a corresponding computer chip can be used if, for example, another sensor 7 is to be evaluated or otherwise another evaluation must be made.

The connecting elements 5 are here simultaneously as electrical lines for the transmission of electrical energy between the hook tip 4 and the

Gripper jaw 3 designed and thus serve to supply the sensor 7 with electrical energy. In addition, a plug 9 for transmitting sensor signals from the sensor 7 to the transmitter 8 is still provided.

The through holes 10, each in the hook tip 4 and the

Gripper jaw 3 is provided serve the recording of retaining bolts, not shown, an automatic changing device for the automated disassembly or assembly of the hook tip 4 at the

Gripper jaw 3. The mentioned changing device is the subject of another invention of the patentee and will be discussed in detail in another patent application.

It goes without saying that the embodiments described above and schematically illustrated in the figures can also be combined with one another as desired to form further exemplary embodiments

Requirements in practice.

Claims

Patent claims

1 . Gripper finger of a gripping instrument for a robot system, wherein the gripper finger for gripping objects comprises a gripper jaw (3) and a gripper tip (4), which extends with a gripper axis (A) along a longitudinal direction (L), and the gripper tip (4) can be releasably connected to the gripper jaw (3) by means of a connecting element (5), characterized in that the connecting element (5) extends in the longitudinal direction (L).

The connecting socket (6) can be locked in the form of a plug-in connection so that in the locked state the gripper tip (4) is prevented from tipping in relation to the gripper axis (A) and at the same time the gripper tip (4) is prevented from tilting against the gripper jaw (3) in relation to the longitudinal direction (L) is locked under a predeterminable longitudinal locking force (F).

2. Gripper finger according to claim 1, wherein the connecting socket (6) in the

Gripper jaw (3) is provided, and the connecting element (5) in the form of a connecting pin is non-detachably connected to the gripper tip (4) in such a way that the connecting pin is under the longitudinal

Locking force (F) can be locked with the connecting socket (6).

3. Gripper finger according to one of claims 1 or 2, wherein the

Connecting bushing (6) is provided in the gripper tip (4), and the connecting element (5) in the form of a connecting pin is non-detachably connected to the gripper jaw (3) in such a way that the connecting pin is connected to the connecting bushing (6) under the longitudinal locking force (F). ) can be locked.

4. Gripper finger according to one of the preceding claims, wherein the

Connecting element (5) comprises a first locking element (51). and the connecting bushing (6) comprises a second locking element which is geometrically complementary to the first locking element, wherein in order to generate the longitudinal locking force (F), the first locking element (51) and/or the second locking element is equipped with an elastically acting force element (52).

Gripper finger according to one of the preceding claims, wherein the connecting element (5) and the connecting bushing (6) are geometrically complementary to one another in such a way that the connecting element (5) and the connecting bushing (6) can be connected to one another in a form-fitting manner in such a way that in the locking state the longitudinal locking force (F) through the positive connection between the connecting element (5) and the connecting socket (6)

is guaranteed.

Gripper finger according to one of the preceding claims, wherein the connecting element (5) and the connecting bushing (6) are geometrically complementary to one another in such a way that the connecting element (5) and the connecting bushing (6) can be connected to one another in a form-fitting manner, and in the locked state

longitudinal locking force (F) by a between the

connecting element

(5) and the connection socket

(6) acting electromagnetic, in particular electrical or magnetic force is caused.

Gripper finger according to one of the preceding claims, wherein a sensor (7) for detecting an environmental signal is provided in the gripper jaw (3) and/or in the gripper tip (4), wherein the sensor

(7) an infrared sensor, and/or an ultrasonic sensor, and/or a capacitive sensor, and/or an electromagnetic sensor, in

Special an electrical or magnetic sensor and / or a piezoelectric sensor, and / or a camera for recording an optical signal, and / or a microphone for excluding one

acoustic signal and / or another sensor.

8. Gripper finger according to one of the preceding claims, wherein in the gripper jaw (3) and / or in the gripper tip (4).

Evaluation electronics (8) for evaluating the ambient signal

is provided.

9. Gripper finger according to one of the preceding claims, wherein the

The gripper jaw (3) and/or the gripper tip (4) is movable

Gripper element includes.

10. Gripper finger according to claim 9, wherein in the gripper jaw (3) and / or in the gripper tip (4) a drive unit for driving the gripper jaw (3) and or the gripper tip (4) and / or for driving the movable gripper element is provided.

1 1 . Gripper finger according to claim 10, wherein the drive unit is one

mechanical, electromagnetic, in particular an electric, magnetic, piezoelectric drive unit or a hydraulic or a pneumatic drive unit.

12. Gripper finger according to one of the preceding claims, wherein for

signal transmission or for the transmission of a mechanical,

electrical, pneumatic or hydraulic energy between the gripper jaw (3) and the gripper tip (4) a transmission connection in the form of a mechanical, electromagnetic connection,

in particular a radio connection or electrical line or in the form of a hydraulic or pneumatic line is provided.

13. Gripper finger according to claim 12, wherein the transmission connection is integrated into the connecting element (5) and / or into the connecting socket (6).

14. Gripper tip and/or gripper jaw for a gripper finger (1).

one of claims 1 to 13.

15. Robot system, in particular industrial robot, or service robot or robot for quality control or for carrying out a delicate assembly, or for supporting an everyday human activity with a gripper tip (4) or a gripper jaw (3) according to claim 14, or with a gripper finger (1) according to one of claims 1 to 12.